version: 66.07
glider: 500
mission: 4
dive: 75
start: 7 1 110 4 14 28
data:
$ID,500
$MISSION,4
$DIVE,75
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,388
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110888.05
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,74
$AR_SAMPLENUM,10
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,010710,040807,2032.740,-15933.556,25,1.6,25,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.5
$GPS2,010710,041332,2032.766,-15933.688,15,1.5,15,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT04
$TGT_LATLONG,2036.000,-15959.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.220,-0.034
$KALMAN_X,-121131.0,182.4,727.4,-47878.0,-6616.6
$KALMAN_Y,138934.2,-237.1,-485.8,-209421.5,2402.4
$MHEAD_RNG_PITCHd_Wd,251.5,44287,-17.0,-8.505
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-51.28,0.000,2,0.000,0.000,146,2033,2695,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-6.9,10,112,10.05,2.40,-13.80,0.000,4,0.235,0.058,2652,457,3302,0,0,0,0,0,0
$GC,330,-0.71,-116.8,47.1,-17.7,46,336,0.00,2.30,0.00,0.000,6,0.000,0.033,2644,2028,3304,0,0,0,0,0,0
$GC,592,-0.71,-116.8,80.2,-11.6,71,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2027,3306,0,0,0,0,0,0
$GC,849,-0.71,-116.8,110.7,-11.9,95,853,0.00,2.33,0.00,0.000,4,0.000,0.043,2642,449,3308,0,0,0,0,0,0
$GC,903,-0.71,-116.8,118.3,-13.0,99,910,0.00,2.30,0.00,0.000,6,0.000,0.032,2633,2039,3308,0,0,0,0,0,0
$GC,1165,-0.71,-116.8,148.6,-11.2,124,1169,0.10,2.30,0.00,0.000,4,0.163,0.043,2649,3612,3309,0,0,0,0,0,0
$GC,1207,-0.71,-116.8,152.9,-9.2,127,1214,0.00,2.30,0.00,0.000,6,0.000,0.031,2649,2027,3309,0,0,0,0,0,0
$GC,1469,-0.71,-116.8,179.4,-11.2,152,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2027,3310,0,0,0,0,0,0
$GC,1732,-0.71,-116.8,206.7,-9.8,174,1736,0.00,2.28,0.00,0.000,4,0.000,0.044,2649,447,3310,0,0,0,0,0,0
$GC,1871,-0.71,-116.8,221.1,-9.5,180,1876,0.00,2.28,0.00,0.000,6,0.000,0.032,2637,2034,3310,0,0,0,0,0,0
$GC,2191,-0.71,-116.8,252.9,-10.7,196,2195,0.00,2.30,0.00,0.000,4,0.000,0.044,2625,3619,3309,0,0,0,0,0,0
$GC,2240,-0.71,-116.8,258.1,-10.8,198,2246,0.08,2.30,0.00,0.000,6,0.108,0.031,2657,2025,3309,0,0,0,0,0,0
$GC,2562,-0.71,-116.8,281.7,-6.5,214,2566,0.00,2.28,0.00,0.000,4,0.000,0.044,2657,448,3307,0,0,0,0,0,0
$GC,2588,-0.71,-116.8,283.6,-7.3,215,2593,0.00,2.28,0.00,0.000,6,0.000,0.033,2647,2031,3307,0,0,0,0,0,0
$GC,2928,-0.71,-116.8,310.9,-8.8,229,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2031,3305,0,0,0,0,0,0
$GC,3252,-0.71,-116.8,339.9,-8.8,237,3257,0.00,2.33,0.00,0.000,4,0.000,0.045,2647,457,3304,0,0,0,0,0,0
$GC,3291,-0.71,-116.8,343.8,-10.0,238,3296,0.00,2.22,0.00,0.000,6,0.000,0.034,2636,2038,3307,0,0,0,0,0,0
$GC,3614,-0.71,-116.8,374.3,-9.4,246,3618,0.00,2.30,0.00,0.000,4,0.000,0.046,2624,3603,3302,0,0,0,0,0,0
$GC,3658,-0.71,-116.8,378.5,-10.0,247,3663,0.08,2.28,0.00,0.000,6,0.110,0.031,2656,2034,3302,0,0,0,0,0,0
$GC,3982,-0.71,-116.8,406.4,-8.5,255,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2034,3299,0,0,0,0,0,0
$GC,4307,-0.71,-116.8,430.4,-7.0,263,4311,0.00,2.30,0.00,0.000,4,0.000,0.046,2653,449,3297,0,0,0,0,0,0
$GC,4452,-0.71,-116.8,441.4,-7.5,266,4456,0.00,2.25,0.00,0.000,6,0.000,0.035,2644,2039,3296,0,0,0,0,0,0
$GC,4799,-0.71,-116.8,467.1,-7.5,275,4803,0.00,2.38,0.00,0.000,4,0.000,0.047,2646,449,3296,0,0,0,0,0,0
$GC,4875,-0.71,-116.8,473.6,-7.8,276,4882,0.00,2.28,0.00,0.000,6,0.000,0.035,2634,2017,3294,0,0,0,0,0,0
$GC,5207,-0.71,-116.8,495.6,-6.1,285,5211,0.00,2.38,0.00,0.000,4,0.000,0.047,2622,3611,3291,0,0,0,0,0,0
$GC,5300,-0.71,-116.8,502.2,-6.2,287,5306,0.10,2.30,0.00,0.000,6,0.104,0.033,2663,2037,3292,0,0,0,0,0,0
$GC,5625,-0.71,-116.8,519.4,-5.4,295,5629,0.00,2.33,0.00,0.000,4,0.000,0.048,2662,454,3290,0,0,0,0,0,0
$GC,5679,-0.71,-116.8,523.0,-6.1,296,5684,0.00,2.30,0.00,0.000,6,0.000,0.035,2652,2037,3290,0,0,0,0,0,0
$GC,5998,-0.71,-116.8,543.3,-6.4,304,6002,0.00,2.35,0.00,0.000,4,0.000,0.048,2652,449,3288,0,0,0,0,0,0
$GC,6026,-0.71,-116.8,545.2,-7.3,304,6030,0.00,2.28,0.00,0.000,6,0.000,0.036,2641,2049,3288,0,0,0,0,0,0
$GC,6356,-0.71,-116.8,568.6,-7.3,312,6360,0.00,2.38,0.00,0.000,4,0.000,0.048,2640,442,3286,0,0,0,0,0,0
$GC,6400,-0.71,-116.8,572.1,-8.2,313,6404,0.10,2.30,0.00,0.000,6,0.160,0.036,2658,2042,3286,0,0,0,0,0,0
$GC,6728,-0.71,-116.8,591.0,-5.4,321,6732,0.00,2.38,0.00,0.000,4,0.000,0.048,2658,446,3285,0,0,0,0,0,0
$GC,6754,-0.71,-116.8,592.5,-6.4,321,6759,0.00,2.30,0.00,0.000,6,0.000,0.035,2648,2028,3284,0,0,0,0,0,0
$GC,7091,-0.71,-116.8,610.7,-5.4,330,7095,0.00,2.33,0.00,0.000,4,0.000,0.049,2648,453,3283,0,0,0,0,0,0
$GC,7122,-0.71,-116.8,612.9,-7.6,330,7129,0.00,2.30,0.00,0.000,6,0.000,0.036,2637,2028,3283,0,0,0,0,0,0
$GC,7453,-0.71,-116.8,638.2,-8.2,339,7457,0.00,2.35,0.00,0.000,4,0.000,0.048,2625,3618,3282,0,0,0,0,0,0
$GC,7513,-0.71,-116.8,643.6,-9.6,340,7519,0.08,2.33,0.00,0.000,6,0.117,0.035,2653,2035,3282,0,0,0,0,0,0
$GC,7827,-0.71,-116.8,666.6,-7.1,348,7831,0.00,2.35,0.00,0.000,4,0.000,0.050,2654,454,3282,0,0,0,0,0,0
$GC,7853,-0.71,-116.8,668.6,-7.2,348,7857,0.00,2.30,0.00,0.000,6,0.000,0.036,2646,2037,3280,0,0,0,0,0,0
$GC,8190,-0.71,-116.8,689.9,-6.0,357,8194,0.00,2.33,0.00,0.000,4,0.000,0.049,2646,454,3279,0,0,0,0,0,0
$GC,8216,-0.71,-116.8,691.6,-6.5,357,8221,0.00,2.30,0.00,0.000,6,0.000,0.036,2635,2033,3279,0,0,0,0,0,0
$GC,8553,-0.71,-116.8,711.9,-6.2,366,8557,0.00,2.35,0.00,0.000,4,0.000,0.049,2635,455,3278,0,0,0,0,0,0
$GC,8579,-0.71,-116.8,713.9,-7.4,366,8583,0.00,2.30,0.00,0.000,6,0.000,0.036,2624,2032,3278,0,0,0,0,0,0
$GC,8916,-0.71,-116.8,737.6,-7.2,375,8920,0.12,2.35,0.00,0.000,4,0.148,0.048,2652,3613,3277,0,0,0,0,0,0
$GC,8964,-0.71,-116.8,740.9,-5.5,376,8969,0.00,2.33,0.00,0.000,6,0.000,0.035,2652,2032,3275,0,0,0,0,0,0
$GC,9283,-0.71,-116.8,759.6,-5.8,384,9287,0.00,2.38,0.00,0.000,4,0.000,0.051,2652,454,3277,0,0,0,0,0,0
$GC,9349,-0.71,-116.8,764.1,-6.8,385,9353,0.00,2.28,0.00,0.000,6,0.000,0.037,2641,2035,3276,0,0,0,0,0,0
$GC,9691,-0.71,-116.8,783.6,-5.5,394,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2036,3275,0,0,0,0,0,0
$GC,10015,-0.71,-116.8,802.0,-5.7,402,10020,0.00,2.38,0.00,0.000,4,0.000,0.050,2643,447,3275,0,0,0,0,0,0
$GC,10042,-0.71,-116.8,803.8,-7.2,402,10047,0.00,2.30,0.00,0.000,6,0.000,0.037,2629,2022,3275,0,0,0,0,0,0
$GC,10379,-0.71,-116.8,824.9,-6.4,411,10384,0.10,2.40,0.00,0.000,4,0.162,0.049,2649,3614,3274,0,0,0,0,0,0
$GC,10433,-0.71,-116.8,828.4,-6.3,412,10438,0.00,2.33,0.00,0.000,6,0.000,0.035,2649,2034,3274,0,0,0,0,0,0
$GC,10746,-0.71,-116.8,849.4,-6.8,420,10750,0.00,2.35,0.00,0.000,4,0.000,0.051,2649,447,3273,0,0,0,0,0,0
$GC,10817,-0.71,-116.8,855.2,-8.2,421,10822,0.00,2.33,0.00,0.000,6,0.000,0.037,2638,2041,3273,0,0,0,0,0,0
$GC,11154,-0.71,-116.8,880.0,-7.4,430,11158,0.00,2.38,0.00,0.000,4,0.000,0.049,2638,454,3273,0,0,0,0,0,0
$GC,11202,-0.71,-116.8,884.0,-8.4,431,11208,0.08,2.30,0.00,0.000,6,0.120,0.037,2655,2022,3272,0,0,0,0,0,0
$GC,11521,-0.71,-116.8,905.3,-6.6,439,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2024,3272,0,0,0,0,0,0
$GC,11846,-0.71,-116.8,925.7,-6.2,447,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2022,3271,0,0,0,0,0,0
$GC,12171,-0.71,-116.8,943.6,-5.4,455,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2022,3271,0,0,0,0,0,0
$GC,12496,-0.71,-116.8,959.7,-4.9,463,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2022,3271,0,0,0,0,0,0
$GC,12821,-0.71,-116.8,975.5,-5.0,471,12825,0.00,2.35,0.00,0.000,4,0.000,0.051,2656,455,3271,0,0,0,0,0,0
$GC,12847,-0.71,-116.8,977.2,-5.4,471,12851,0.00,2.33,0.00,0.000,6,0.000,0.038,2646,2035,3270,0,0,0,0,0,0
$STATE,13106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13107,begin apogee
$GC,13110,-0.23,0.0,991.9,5.7,478,13209,0.50,0.00,96.10,1.307,6,0.114,0.000,2812,2035,2822,0,0,0,0,0,0
$STATE,13212,end apogee,CONTROL_FINISHED_OK
$STATE,13212,begin climb
$GC,13213,0.71,116.8,993.4,0.0,480,13334,0.88,2.65,110.62,1.267,4,0.067,0.049,3124,3603,2346,0,0,0,0,0,0
$GC,13351,0.71,116.8,984.0,11.7,484,13355,0.00,2.50,0.00,0.000,6,0.000,0.039,3136,2026,2340,0,0,0,0,0,0
$GC,13674,0.71,116.8,938.7,14.1,492,13678,0.00,2.42,0.00,0.000,4,0.000,0.051,3148,450,2328,0,0,0,0,0,0
$GC,13722,0.71,116.8,931.2,16.0,493,13727,0.00,2.40,0.00,0.000,6,0.000,0.038,3148,2034,2327,0,0,0,0,0,0
$GC,14040,0.71,116.8,881.8,15.9,501,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2037,2324,0,0,0,0,0,0
$GC,14366,0.71,116.8,831.0,15.3,509,14370,0.00,2.40,0.00,0.000,4,0.000,0.052,3160,449,2322,0,0,0,0,0,0
$GC,14431,0.71,116.8,820.5,14.6,510,14437,0.12,2.38,0.00,0.000,6,0.145,0.038,3120,2043,2322,0,0,0,0,0,0
$GC,14773,0.71,116.8,777.3,12.3,519,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2039,2321,0,0,0,0,0,0
$GC,15097,0.71,116.8,739.6,11.7,527,15102,0.00,2.40,0.00,0.000,4,0.000,0.051,3131,450,2319,0,0,0,0,0,0
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$STATE,21811,end climb,SURFACE_DEPTH_REACHED
$STATE,21811,begin surface coast
$FINISH,0.8,1.017540
$STATE,21839,end surface coast,CONTROL_FINISHED_OK
$STATE,21839,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,8.826
$10V_AH,9.8,11.719
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335000
$DATA_FILE_SIZE,30071,873
$CAP_FILE_SIZE,180081,0
$CFSIZE,260165632,251539456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010710,102236,2032.250,-15939.316,30,1.4,30,9.6